diff --git a/opencv2/gcv_calib3d/gcv_calib3d.cpp b/opencv2/gcv_calib3d/gcv_calib3d.cpp
index d9dc858..19fbafb 100644
--- a/opencv2/gcv_calib3d/gcv_calib3d.cpp
+++ b/opencv2/gcv_calib3d/gcv_calib3d.cpp
@@ -5,16 +5,40 @@
 
 #include "gcv_calib3d.hpp"
 
-cv::Mat gcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) {
+cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) {
         cv::Mat cameraMatrix;
 
-        std::vector<VecPoint3f> *objPtsArr = new std::vector<VecPoint3f>();
-        std::vector<VecPoint2f> *imgPtsArr = new std::vector<VecPoint2f>();
+        std::vector<VecPoint3f> objPtsArr;
+        std::vector<VecPoint2f> imgPtsArr;
 
-        objPtsArr->push_back(objPts);
-        imgPtsArr->push_back(imgPts);
+        objPtsArr.push_back(objPts);
+        imgPtsArr.push_back(imgPts);
 
-        cameraMatrix = cv::initCameraMatrix2D(*objPtsArr, *imgPtsArr, cv::Size(1920, 1080), 1);
-        std::cout << cameraMatrix << std::endl;
+        cameraMatrix = cv::initCameraMatrix2D(objPtsArr, imgPtsArr, cv::Size(1920, 1080), 1);
         return cameraMatrix;
 }
+
+double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
+                          std::vector<int> imgSize, cv::Mat cameraMatrix) {
+        std::vector<VecPoint3f> objPtsArr;
+        std::vector<VecPoint2f> imgPtsArr;
+        std::vector<cv::Mat> rvecs, tvecs;
+        cv::Mat distCoeffs;
+
+        double rtn;
+
+        objPtsArr.push_back(objPts);
+        imgPtsArr.push_back(imgPts);
+
+        std::cout << "init Camera" << cameraMatrix << std::endl;
+
+        rtn = cv::calibrateCamera(objPtsArr, imgPtsArr,
+                                  cv::Size2i(imgSize[0], imgSize[1]),
+                                  cameraMatrix, distCoeffs, rvecs, tvecs);
+
+        std::cout << "final Camera" << cameraMatrix << std::endl;
+        std::cout << "final rvecs" << rvecs[0] << std::endl;
+        std::cout << "final tvecs" << tvecs[0] << std::endl;
+
+        return rtn;
+}
diff --git a/opencv2/gcv_calib3d/gcv_calib3d.hpp b/opencv2/gcv_calib3d/gcv_calib3d.hpp
index 9f88a00..15d2295 100644
--- a/opencv2/gcv_calib3d/gcv_calib3d.hpp
+++ b/opencv2/gcv_calib3d/gcv_calib3d.hpp
@@ -5,4 +5,7 @@
 typedef std::vector<cv::Point3f> VecPoint3f;
 typedef std::vector<cv::Point2f> VecPoint2f;
 
-cv::Mat gcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts);
+cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts);
+
+double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
+                          std::vector<int> imgSize, cv::Mat cameraMatrix);
diff --git a/opencv2/gcv_calib3d/gcv_calib3d_test.go b/opencv2/gcv_calib3d/gcv_calib3d_test.go
index 23d8b36..abd3e94 100644
--- a/opencv2/gcv_calib3d/gcv_calib3d_test.go
+++ b/opencv2/gcv_calib3d/gcv_calib3d_test.go
@@ -32,3 +32,25 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
 
 	GcvInitCameraMatrix2D(objPts, imgPts)
 }
+
+func TestGcvCalibrateCamera(t *testing.T) {
+	objPts := gcv_utils.NewGcvPoint3fVector(int64(4))
+	objPts.Set(0, gcv_utils.GetPoint3f(0, 25, 0))
+	objPts.Set(1, gcv_utils.GetPoint3f(0, -25, 0))
+	objPts.Set(2, gcv_utils.GetPoint3f(-47, 25, 0))
+	objPts.Set(3, gcv_utils.GetPoint3f(-47, -25, 0))
+
+	imgPts := gcv_utils.NewGcvPoint2fVector(int64(4))
+	imgPts.Set(0, gcv_utils.GetPoint2f(1136.4140625, 1041.89208984))
+	imgPts.Set(1, gcv_utils.GetPoint2f(1845.33190918, 671.39581299))
+	imgPts.Set(2, gcv_utils.GetPoint2f(302.73373413, 634.79998779))
+	imgPts.Set(3, gcv_utils.GetPoint2f(1051.46154785, 352.76107788))
+
+	imgSize := gcv_utils.NewGcvIntVector(int64(2))
+	imgSize.Set(0, 1920)
+	imgSize.Set(1, 1080)
+
+	camMat := GcvInitCameraMatrix2D(objPts, imgPts)
+
+	GcvCalibrateCamera(objPts, imgPts, imgSize, camMat)
+}
diff --git a/opencv2/gcv_utils/gcv_utils.swigcxx b/opencv2/gcv_utils/gcv_utils.swigcxx
index 4cbba2e..abfbf7f 100644
--- a/opencv2/gcv_utils/gcv_utils.swigcxx
+++ b/opencv2/gcv_utils/gcv_utils.swigcxx
@@ -10,4 +10,7 @@
 namespace std {
    %template(GcvPoint3fVector) vector<cv::Point3f>;
    %template(GcvPoint2fVector) vector<cv::Point2f>;
+
+   %template(GcvIntVector) vector<int>;
+   %template(GcvFloatVector) vector<float>;
 };